CN212630811U - Guide wire conveying mechanism - Google Patents
Guide wire conveying mechanism Download PDFInfo
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- CN212630811U CN212630811U CN202022231169.1U CN202022231169U CN212630811U CN 212630811 U CN212630811 U CN 212630811U CN 202022231169 U CN202022231169 U CN 202022231169U CN 212630811 U CN212630811 U CN 212630811U
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Abstract
The utility model discloses a seal wire conveying mechanism, including seal wire fixing base and the seal wire slewing mechanism of setting on the seal wire fixing base, seal wire slewing mechanism includes that the seal wire rotates the wheel and drive seal wire rotates wheel pivoted seal wire and rotates actuating mechanism, and the seal wire rotates the wheel and has the seal wire open slot that extends to the axle center by the side to and fix the seal wire at seal wire open slot bottom's seal wire fixing device. The utility model discloses a seal wire conveying mechanism, seal wire rotate the wheel and have by the side seal wire open slot that extends to the axle center, also the seal wire can be by seal wire open slot direct mount to the seal wire rotate the axle center position of wheel, compare the mode that the seal wire penetrated from one end among the prior art, install simpler. More importantly, the guide wire can also be directly pulled out from the guide wire opening groove, so that the problem that the guide wire is pulled out from the body firstly because the guide wire can only be pulled out from one end in the prior art is effectively solved.
Description
Technical Field
The utility model relates to an intervene technical field, in particular to seal wire conveying mechanism.
Background
The interventional technique is a minimally invasive treatment carried out by applying modern high-tech means, and is characterized in that under the guidance of medical images, special catheters, guide wires and other precise instruments are introduced into a human body to diagnose and locally treat focus in the body. The interventional therapy is carried out in blood vessels, and the patients with diseases which cannot be treated in the past and have poor curative effect such as tumors, hemangiomas, various hemorrhages, cerebrovascular malformations and the like can be treated only by making small-diameter wounds on the blood vessels and the skin without operation and inserting special catheters and guide wires into the blood vessels.
For certain disease types, such as arteriosclerosis, the image of the patient's heart may show obstruction of one or more coronary arteries. Following the diagnostic procedure, the patient may be subjected to a catheter-based intervention. Interventional procedures typically involve the insertion of a guidewire into a blood vessel and then advancing the guidewire to the desired location. The catheter is then inserted along the guidewire and to the site of the lesion in the patient. In some treatments, catheters are equipped with a stent for mounting on the body and a balloon required for mounting the stent. In the treatment of tumors, chemotherapy drugs can be infused through the catheter, as well as embolization agents for embolization.
For manual insertion of the guidewire, the physician applies an axial thrust and torque at the proximal end of the guidewire for controlling the guidewire to the desired position. In this procedure, the assistance of an imaging device is required to help the physician determine the position of the guidewire in the vessel. A currently common imaging device is DSA, which uses X-rays with radiation damage to a person for imaging. The long-term exposure to X-rays can cause irreversible damage to the eyes, skin and reproductive system of a doctor. The doctor can be isolated from the radiation environment by adopting the remote control robot, and the radiation is avoided.
At present, the vascular interventional surgical robot mainly adopts a master-slave end operation structure to isolate a doctor from radioactive rays. The guide wire device in patent US7887549B2 is designed for cardiovascular surgery, the catheter and the guide wire are in Y shape, the guide wire has two degrees of freedom of rotation and axial movement, and the catheter enters from one side and merges with the guide wire and then enters into the blood vessel. The patent fails to solve the problem of a guide wire catheter used in peripheral vascular interventional procedures, in which a guide wire needs to be inserted from the tail of the catheter. Patent 2017208089972 discloses a slave end of an interventional operation robot and a moving platform thereof, which can solve the problem of cooperation between a catheter and a guide wire, but the structure of the patent is complex, the guide wire and the catheter are inconvenient to install, and the guide wire and the catheter need to be drawn out of a patient body when the guide wire is taken out in an operation.
SUMMERY OF THE UTILITY MODEL
The utility model provides a seal wire conveying mechanism of seal wire easy to assemble and change.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the basis the utility model discloses an aspect provides a seal wire conveying mechanism, including seal wire fixing base and the seal wire slewing mechanism of setting on the seal wire fixing base, seal wire slewing mechanism includes that the seal wire rotates the wheel and drive seal wire rotates wheel pivoted seal wire and rotates actuating mechanism, and the seal wire rotates the wheel and has the seal wire open slot that extends to the axle center by the side to and fix the seal wire at the seal wire fixing device of seal wire open slot bottom.
Further, the guide wire fixing seat comprises a first fixing plate and a second fixing plate which is rotatably arranged on the first fixing plate, and the guide wire rotating mechanism is arranged on the second fixing plate;
the guide wire conveying mechanism further comprises a resistance measuring device for detecting axial stress of the guide wire, and the resistance measuring device is arranged between the first fixing plate and the second fixing plate.
Further, the second fixing plate is rotatably arranged on the first fixing plate through a rotating shaft; the first fixing plate is provided with a limiting part for limiting the second fixing plate to rotate towards the advancing direction of the guide wire; the resistance measuring device comprises a stop block arranged on the first fixing plate and a resistance sensor, wherein two ends of the resistance sensor are respectively abutted or connected with the stop block and the second fixing plate; the limiting part and the stop block are respectively arranged at two sides of the rotating shaft.
Further, the godet wheel includes a godet wheel shaft and a first gear disposed on the godet wheel shaft; the guide wire rotation driving mechanism comprises a second gear meshed with the first gear and a motor driving the second gear.
Further, the guide wire fixing seat also comprises a movable plate which is detachably arranged on the second fixing plate; the motor is arranged on the second fixing plate; the first gear and the second gear are arranged on the movable plate.
Furthermore, the first gear is a first bevel gear, the second gear is a second bevel gear, and the axial direction of the motor is perpendicular to the shaft part of the godet wheel or arranged at a preset angle; the movable plate and the fixed plate are fixed through a positioning column and a positioning groove which extend along the axial direction of the motor; the second gear is connected with the motor through a spline.
Further, the guide wire rotation driving mechanism further comprises a torque measuring device, and the torque measuring device comprises a torque sensor; the motor stator of the motor is rotatably arranged on the fixing plate, the first end of the torque sensor is fixed on the fixing plate, and the second end of the torque sensor is fixed on the motor stator.
Further, the guide wire fixing device comprises a clamping groove clamped with the tail wing of the guide wire.
Further, the guide wire fixing device further comprises a guide wire locker, and the guide wire locker is clamped with the clamping groove.
Further, the guide wire conveying mechanism also comprises a sliding table, and a sliding groove matched with the sliding rail is arranged at the bottom of the sliding table; the sliding table is also provided with an adjusting mechanism for adjusting the connecting position of the sliding table and the driving belt of the sliding rail; the seal wire fixing base sets up on the slip table.
To sum up, the utility model discloses a seal wire conveying mechanism, seal wire rotate the wheel and have the seal wire open slot that extends to the axle center by the side, also the seal wire can be by seal wire open slot direct mount to the seal wire rotate the axle center position of wheel, compare the mode that the seal wire penetrated from one end among the prior art, the installation is simpler. More importantly, the guide wire can also be directly pulled out from the guide wire opening groove, so that the problem that the guide wire is pulled out from the body firstly because the guide wire can only be pulled out from one end in the prior art is effectively solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification. In the drawings:
fig. 1 is an exploded schematic view of a guidewire delivery mechanism according to the present invention;
FIG. 2 is a right side view of FIG. 1;
fig. 3 is an exploded schematic view of the torque measuring device of the guide wire conveying mechanism according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the utility model provides a seal wire conveying mechanism, including seal wire fixing base 41 and the seal wire slewing mechanism of setting on seal wire fixing base 41, seal wire slewing mechanism includes that the seal wire rotates wheel 42 and drive seal wire and rotates wheel 42 pivoted seal wire rotation actuating mechanism 43, and seal wire rotation wheel 42 has the seal wire open slot 421 that extends to the axle center by the side to and fix the seal wire at seal wire fixing device 422 of seal wire open slot 421 bottom.
The utility model discloses a seal wire conveying mechanism, seal wire rotate wheel 42 have by the side extend to the seal wire open slot 421 of axle center, also the seal wire can be by seal wire open slot 421 snap-on to the seal wire rotate wheel 42's axle center position, compare the mode that the seal wire penetrated from one end among the prior art, the installation is simpler. More importantly, the guide wire can also be directly pulled out from the guide wire open slot 421, which effectively solves the problem that the guide wire is pulled out from the body firstly because the guide wire can only be pulled out from one end in the prior art.
Preferably, the guide wire fixing base 41 further comprises a first fixing plate 413 and a second fixing plate 411 rotatably disposed on the first fixing plate 413, and the guide wire rotating mechanism is disposed on the second fixing plate 411. The guide wire conveying mechanism further comprises a resistance measuring device 45 for detecting the axial stress of the guide wire, and the resistance measuring device 45 is arranged between the first fixing plate 413 and the second fixing plate 411. That is, the rotation between the first fixing plate 413 and the second fixing plate 411 is limited only by the resistance measuring device 45, and the resistance of the advancing direction (i.e. axial direction) of the guide wire can be obtained by the resistance measured by the resistance measuring device 45 and through the conversion calculation of the related moment arm.
Specifically, as shown in fig. 1 and 2, the second fixing plate 411 is rotatably provided on the first fixing plate 413 by a rotation shaft 413 a; the first fixing plate 413 is provided with a stopper 413b for restricting the second fixing plate 411 from rotating in the advancing direction of the guide wire, that is, the stopper 413b restricts the forward movement (advancing direction of the guide wire) of the second fixing plate 411 to keep the second fixing plate 411 stable.
The resistance measuring device 45 includes a stopper 452 provided on the first fixing plate 413, and a resistance sensor 451 having both ends abutting against or connected to the stopper 452 and the second fixing plate 411, respectively; the stopper 413b and the stopper 452 are respectively provided on both sides of the rotation shaft 413 a. That is, the resistance sensor 451 cooperates with the stopper 452 to restrict the backward movement (the guide wire withdrawing direction) of the second fixing plate 411. According to the moment balance principle, the moment of the resistance applied to the guide wire in the advancing process relative to the rotating shaft 413a and the moment of the rotating shaft 413a relative to the resistance sensor 451 are balanced with each other, so that the second fixing plate 411 can keep balance, and therefore the resistance applied to the guide wire in the advancing process can be calculated according to the proportion of the resistance measured by the resistance sensor 451 to the corresponding moment arm.
As shown in conjunction with fig. 1 and 2, the godet wheel 42 includes a godet wheel shaft portion 423 and a first gear 424 provided on the godet wheel shaft portion 423; the guide wire opening groove 421 is correspondingly arranged on the guide wire wheel shaft part 423 and the first gear 424, and the guide wire wheel shaft part 423 prolongs the length of the guide wire opening groove 421, so that the guide wire can be installed in place and the stability of the installed guide wire is ensured, and meanwhile, unnecessary contact and interference between the guide wire and other parts are avoided in the installation process. The guide wire rotation driving mechanism 43 includes a second gear 432 meshed with the first gear 424 and a motor 431 driving the second gear 432. The guide wire open slot 421 is arranged at the position of the tooth socket by adopting a two-gear meshing mode, and the stable transmission of the guide wire open slot and the tooth socket can be ensured by selecting a proper tooth space. In addition, the first gear 424 and the second gear 432 are arranged, so that the motor 431 is not coaxial with the guide wire, and the catheter and the guide wire are convenient to arrange.
Preferably, as shown in fig. 1 and 2, the guide wire fixing seat 41 further includes a movable plate 412 detachably disposed on the second fixing plate 411; the second fixing plate 411 is rotatably disposed on the first fixing plate 413; the motor 431 is disposed on the second fixing plate 411; the first gear 424 and the second gear 432 are disposed on the movable plate 412. Also can be through the whole dismouting of fly leaf 412 to dismantle some disposable or the part that often need change, realize the modularization dismouting, can raise the efficiency effectively, facilitate the use.
Preferably, the first gear 424 is a first bevel gear, the second gear 432 is a second bevel gear, and the axial direction of the motor 431 is perpendicular to or at a predetermined angle with respect to the godet shaft 423; through bevel gear transmission, on the one hand be favorable to the transmission more stable, on the other hand, also can change motor 431 axial to make things convenient for whole structural configuration.
As shown in fig. 1 and 3, the guide wire rotation driving mechanism 43 further includes a torque measuring device including a torque sensor 433; the motor stator of the motor 431 is rotatably disposed on the fixing plate 411, and a first end of the torsion sensor 433 is fixed on the fixing plate 411 and a second end is fixed on the motor stator. That is, the motor stator and the rotor are coaxially and rotatably disposed on the guide wire fixing seat 41 (the second fixing plate 411), and two ends of the torque sensor 433 are respectively fixed on the guide wire fixing seat 41 (the second fixing plate 411) and the motor stator. That is, the motor stator is fixed only by the torsion sensor 433 in the circumferential direction, and when the motor 431 works, the rotor of the motor 431 is subjected to the electromagnetic torque applied by the motor stator and the resistance torque applied by the load. According to the law of physics, when the rotor of the motor 431 moves at a constant speed, the sum of the external force applied to the motor is zero. At this time, the two torques in opposite directions applied to the motor 431 are equal, i.e., the electromagnetic torque is equal to the load resisting torque. At this time, the stator receives the electromagnetic torque reaction force from the rotor, the magnitude of the electromagnetic torque reaction force is equal to that of the electromagnetic torque received by the rotor, meanwhile, the stator also receives the reaction moment transmitted by the guide wire fixing seat 41 (the second fixing plate 411) through the torque sensor 433, and the two moments are balanced to ensure that the stator does not move. The reaction moment can be obtained by multiplying the force measured by the torque sensor 433 by the moment arm.
Therefore, according to the analysis, the torque applied to the rotor of the motor 431 during uniform motion can be calculated according to the force measured by the torque sensor 433, the problem that the structure is complex due to the fact that a slip ring lead is needed in the prior art is solved, and the measurement accuracy is higher and more reliable.
In addition, when the rotor moves in an acceleration or deceleration mode, the compensation can be performed by correspondingly considering the moment of inertia of the rotor. The device has removed the sliding ring mechanism from, utilizes current force measurement device, makes system stability guarantee more easily.
Specifically, as shown in fig. 3, a support 436 having an annular portion is disposed on the guide wire fixing seat 41 (the second fixing plate 411), the annular portion has a bearing hole, and the motor stator is fixed in the bearing hole through a bearing 435, so as to ensure that no force is applied in the circumferential direction between the electronic stator and the guide wire fixing seat 41 (the second fixing plate 411).
In addition, for convenience of installation and processing, the guide wire conveying mechanism further comprises a rotating seat 434, the rotating seat 434 is fixedly connected with the motor stator, and the rotating seat 434 is provided with a shaft part matched with the inner hole of the bearing. That is, a rotating seat 434 is arranged to be matched with the bearing 435, so that direct processing on the motor stator is avoided, and the processing complexity can be effectively reduced.
As shown in fig. 3, the torque measuring device further includes a first bracket 437 fixed to the annular portion and a second bracket 438 fixed to the rotating seat 434; the two ends of the torsion sensor 433 are respectively fixed on the first bracket 437 and the second bracket 438. By providing the first bracket 437 and the second bracket 438, the measurement device is convenient to mount and fix. Preferably, as shown in fig. 1 and 3, the first bracket 437 and the second bracket 438 are fixed to two side surfaces of the torsion sensor 433, respectively, to improve the mounting and fixing reliability.
As shown in fig. 1, to facilitate the guide wire fixing, the guide wire fixing device 422 includes a slot 422a engaged with the tail of the guide wire. For the guide wire with the tail wing, the tail wing of the guide wire is directly fixed through the clamping groove 422a, so that the guide wire cannot freely rotate in the guide wire rotating wheel 42, and the guide wire is convenient and simple. In addition, for the guide wire without the tail wing, the guide wire locker 422b can be used for firstly locking the guide wire, and then the guide wire locker 422b is placed in the clamping groove 422a, so that the guide wire cannot freely rotate. The rotation of the guide wire after it is placed is determined by the guide wire rotation wheel 42.
Preferably, the guide wire conveying mechanism further comprises a sliding table 46, and a sliding groove 461 matched with the sliding rail is arranged at the bottom of the sliding table 46. The guide wire fixing seat 41 is arranged on the sliding table 46, that is, the whole guide wire conveying mechanism is arranged on the sliding rail through the sliding table 46, and is driven to slide back and forth through the corresponding guide wire rotation driving mechanism 43 on the sliding rail, so that the guide wire is driven to move back and forth. The sliding table 46 and the catheter fixing base 41 may be an integral structure or two structures fixed separately, and the sliding table 46 is further provided with an adjusting mechanism 462 for adjusting the connecting position of the sliding table 46 and the driving belt of the slide rail, as required. That is, the slide rail is provided with a driving belt, and the position of the sliding table 46 can be adjusted by adjusting the fixing position of the sliding table 46 and the driving belt through the adjusting mechanism 462, so that the guide wire is in a proper position.
In view of the above, it is only the specific embodiments of the present invention that other modifications and variations can be made by those skilled in the art based on the above-described embodiments in light of the above teachings. It should be understood by those skilled in the art that the foregoing detailed description is for the purpose of better explaining the present invention, and the scope of the present invention should be determined by the scope of the claims.
Claims (10)
1. The utility model provides a seal wire conveying mechanism, its characterized in that is in including seal wire fixing base and setting seal wire slewing mechanism on the seal wire fixing base, seal wire slewing mechanism includes that the seal wire rotates wheel and drive the seal wire rotates wheel pivoted seal wire and rotates actuating mechanism, the seal wire rotates the wheel and has the seal wire open slot that extends to the axle center by the side, and will the seal wire is fixed the seal wire fixing device of seal wire open slot bottom.
2. The guidewire delivery mechanism of claim 1,
the guide wire fixing seat comprises a first fixing plate and a second fixing plate which is rotatably arranged on the first fixing plate, and the guide wire rotating mechanism is arranged on the second fixing plate;
the guide wire conveying mechanism further comprises a resistance measuring device for detecting the axial stress of the guide wire, and the resistance measuring device is arranged between the first fixing plate and the second fixing plate.
3. The guidewire delivery mechanism of claim 2,
the second fixing plate is rotatably arranged on the first fixing plate through a rotating shaft;
the first fixing plate is provided with a limiting part for limiting the second fixing plate to rotate towards the advancing direction of the guide wire;
the resistance measuring device comprises a stop block arranged on the first fixing plate and a resistance sensor, wherein two ends of the resistance sensor are respectively abutted or connected with the stop block and the second fixing plate;
the limiting part and the stop block are respectively arranged on two sides of the rotating shaft.
4. The guidewire delivery mechanism of claim 2,
the yarn guide rotating wheel comprises a yarn guide wheel shaft part and a first gear arranged on the yarn guide wheel shaft part; the guide wire rotation driving mechanism comprises a second gear meshed with the first gear and a motor driving the second gear.
5. The guidewire delivery mechanism of claim 4,
the guide wire fixing seat further comprises a movable plate which is detachably arranged on the second fixing plate;
the motor is arranged on the second fixing plate;
the first gear and the second gear are disposed on the movable plate.
6. The guidewire delivery mechanism of claim 5,
the first gear is a first bevel gear, the second gear is a second bevel gear, and the axial direction of the motor is perpendicular to the shaft part of the godet wheel or arranged at a preset angle;
the movable plate and the fixed plate are fixed through a positioning column and a positioning groove which extend along the axial direction of the motor;
the second gear is connected with the motor through a spline.
7. The guidewire delivery mechanism of claim 5,
the guide wire rotation driving mechanism further comprises a torque measuring device, and the torque measuring device comprises a torque sensor; the motor stator of the motor is rotatably arranged on the fixing plate, the first end of the torque sensor is fixed on the fixing plate, and the second end of the torque sensor is fixed on the motor stator.
8. The guidewire delivery mechanism of claim 1,
the guide wire fixing device comprises a clamping groove clamped with the tail wing of the guide wire.
9. The guidewire delivery mechanism of claim 8,
the guide wire fixing device further comprises a guide wire locker, and the guide wire locker is clamped with the clamping groove.
10. The guidewire delivery mechanism of claim 2,
the guide wire conveying mechanism further comprises a sliding table, and a sliding groove matched with the sliding rail is formed in the bottom of the sliding table;
the sliding table is also provided with an adjusting mechanism for adjusting the connecting position of the sliding table and the driving belt of the sliding rail;
the guide wire fixing seat is arranged on the sliding table.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022231169.1U CN212630811U (en) | 2020-10-09 | 2020-10-09 | Guide wire conveying mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022231169.1U CN212630811U (en) | 2020-10-09 | 2020-10-09 | Guide wire conveying mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN212630811U true CN212630811U (en) | 2021-03-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022231169.1U Active CN212630811U (en) | 2020-10-09 | 2020-10-09 | Guide wire conveying mechanism |
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| CN (1) | CN212630811U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114177480A (en) * | 2021-08-19 | 2022-03-15 | 深圳高性能医疗器械国家研究院有限公司 | Guide wire and guide tube coaxial driving device suitable for vascular interventional operation and control method |
-
2020
- 2020-10-09 CN CN202022231169.1U patent/CN212630811U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114177480A (en) * | 2021-08-19 | 2022-03-15 | 深圳高性能医疗器械国家研究院有限公司 | Guide wire and guide tube coaxial driving device suitable for vascular interventional operation and control method |
| CN114177480B (en) * | 2021-08-19 | 2024-01-30 | 深圳高性能医疗器械国家研究院有限公司 | Guide wire catheter coaxial driving device suitable for vascular intervention operation and control method |
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